Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-16 04:45:24 +03:00
Code Issues Wiki Activity

Add rate profiles and inflight switching between them. See Profiles and

Browse source 
Inflight Adjustment documentation for details.
This commit is contained in:
Dominic Clifton 2014-10-29 23:31:43 +00:00
parent cac814923c
commit 28f9fa629c
12 changed files with 346 additions and 66 deletions
Download patch file Download diff file Expand all files Collapse all files

85
src/test/unit/rc_controls_unittest.cc
View file

@ -162,9 +162,10 @@ TEST(RcControlsTest, updateActivatedModesUsingValidAuxConfigurationAndRXValues)
enum {
COUNTER_GENERATE_PITCH_ROLL_CURVE = 0,
COUNTER_QUEUE_CONFIRMATION_BEEP
COUNTER_QUEUE_CONFIRMATION_BEEP,
COUNTER_CHANGE_CONTROL_RATE_PROFILE
};
#define CALL_COUNT_ITEM_COUNT 2
#define CALL_COUNT_ITEM_COUNT 3
static int callCounts[CALL_COUNT_ITEM_COUNT];
@ -178,13 +179,18 @@ void generatePitchRollCurve(controlRateConfig_t *) {
void queueConfirmationBeep(uint8_t) {
callCounts[COUNTER_QUEUE_CONFIRMATION_BEEP]++;
}
void changeControlRateProfile(uint8_t) {
callCounts[COUNTER_CHANGE_CONTROL_RATE_PROFILE]++;
}
}
void resetCallCounters(void) {
memset(&callCounts, 0, sizeof(callCounts));
}
uint32_t fixedMillis = 0;
uint32_t fixedMillis;
extern "C" {
uint32_t millis(void) {
@ -192,6 +198,10 @@ uint32_t millis(void) {
}
}
void resetMillis(void) {
fixedMillis = 0;
}
#define DEFAULT_MIN_CHECK 1100
#define DEFAULT_MAX_CHECK 1900
@ -216,6 +226,8 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
.thrExpo8 = 0,
.rollPitchRate = 0,
.yawRate = 0,
.dynThrPID = 0,
.tpa_breakpoint = 0
};
// and
@ -224,6 +236,7 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
@ -235,6 +248,7 @@ TEST(RcControlsTest, processRcAdjustmentsSticksInMiddle)
// and
resetCallCounters();
resetMillis();
// when
processRcAdjustments(&controlRateConfig, &rxConfig);
@ -256,6 +270,8 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
.thrExpo8 = 0,
.rollPitchRate = 0,
.yawRate = 0,
.dynThrPID = 0,
.tpa_breakpoint = 0
};
// and
@ -265,6 +281,8 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
rxConfig.midrc = 1500;
// and
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
configureAdjustment(0, AUX3 - NON_AUX_CHANNEL_COUNT, &rateAdjustmentConfig);
// and
@ -275,6 +293,7 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
// and
resetCallCounters();
resetMillis();
// and
rcData[AUX3] = PWM_RANGE_MAX;
@ -400,7 +419,64 @@ TEST(RcControlsTest, processRcAdjustmentsWithRcRateFunctionSwitchUp)
EXPECT_EQ(CALL_COUNTER(COUNTER_GENERATE_PITCH_ROLL_CURVE), 3);
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 3);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
}
static const adjustmentConfig_t rateProfileAdjustmentConfig = {
.adjustmentFunction = ADJUSTMENT_RATE_PROFILE,
.mode = ADJUSTMENT_MODE_SELECT,
.data = { 3 }
};
TEST(RcControlsTest, processRcRateProfileAdjustments)
{
// given
controlRateConfig_t controlRateConfig = {
.rcRate8 = 90,
.rcExpo8 = 0,
.thrMid8 = 0,
.thrExpo8 = 0,
.rollPitchRate = 0,
.yawRate = 0,
.dynThrPID = 0,
.tpa_breakpoint = 0
};
// and
memset(&rxConfig, 0, sizeof (rxConfig));
rxConfig.mincheck = DEFAULT_MIN_CHECK;
rxConfig.maxcheck = DEFAULT_MAX_CHECK;
rxConfig.midrc = 1500;
adjustmentStateMask = 0;
memset(&adjustmentStates, 0, sizeof(adjustmentStates));
int adjustmentIndex = 3;
configureAdjustment(adjustmentIndex, AUX4 - NON_AUX_CHANNEL_COUNT, &rateProfileAdjustmentConfig);
// and
uint8_t index;
for (index = AUX1; index < MAX_SUPPORTED_RC_CHANNEL_COUNT; index++) {
rcData[index] = PWM_RANGE_MIDDLE;
}
// and
resetCallCounters();
resetMillis();
// and
rcData[AUX4] = PWM_RANGE_MAX;
// and
uint8_t expectedAdjustmentStateMask =
(1 << adjustmentIndex);
// when
processRcAdjustments(&controlRateConfig, &rxConfig);
// then
EXPECT_EQ(CALL_COUNTER(COUNTER_QUEUE_CONFIRMATION_BEEP), 1);
EXPECT_EQ(CALL_COUNTER(COUNTER_CHANGE_CONTROL_RATE_PROFILE), 1);
EXPECT_EQ(adjustmentStateMask, expectedAdjustmentStateMask);
}
extern "C" {
@ -415,6 +491,9 @@ void mwArm(void) {}
void feature(uint32_t) {}
void sensors(uint32_t) {}
void mwDisarm(void) {}
uint8_t getCurrentControlRateProfile(void) {
return 0;
}
uint8_t armingFlags = 0;
int16_t heading;